X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=src%2Fpath_following.cpp;h=0be1135b16ac87fdc74d60a7b9930b504996cf06;hp=7bbd7efcabf63c1e43174e0ab4a64c5c215d5c6c;hb=9ab6ffef86cc96f0bdd52c811fcc1a6635ab56f5;hpb=eef02300bd4b99a11e6a1756f7b8d4e25c6c0908

diff --git a/src/path_following.cpp b/src/path_following.cpp
index 7bbd7ef..0be1135 100644
--- a/src/path_following.cpp
+++ b/src/path_following.cpp
@@ -43,7 +43,7 @@ class PathFollower
 	PathFollower() : it(nh)
 	{
 		ros::NodeHandle pnh("~");
-		FileStorage fs(ros::package::getPath("wild_thumper") + "/cfg/transformation_matrix.yml", FileStorage::READ);
+		FileStorage fs(ros::package::getPath("wild_thumper") + "/config/transformation_matrix.yml", FileStorage::READ);
 		dynamic_reconfigure::Server<wild_thumper::PathFollowingConfig>::CallbackType f;
 
 		fs["transformation_matrix"] >> transformation_matrix;
@@ -78,7 +78,7 @@ class PathFollower
 
 	int pathfinder(cv::Mat &frame, float &r, float &phi)
 	{
-		cv::vector<cv::Vec2f> lines;
+		std::vector<cv::Vec2f> lines;
 		cv::warpPerspective(frame, frame, transformation_matrix, frame.size(), INTER_LINEAR);
 		Mat roi(frame, Rect(roi_x, roi_y, roi_width, roi_height));
 
@@ -208,7 +208,7 @@ class PathFollower
 		ht_min_points = config.ht_min_points;
 		px = cm_to_px_y(config.roi_y);
 		if (px > 0 && px < img_vsize - roi_height) roi_y = px;
-		else ROS_ERROR("Bad roi_y position %.2fcm", roi_y);
+		else ROS_ERROR("Bad roi_y position %dcm", roi_y);
 		road_distance_cm = config.road_distance_cm;
 		lad_cm = config.lad_cm;	
 		speed_m_s = config.speed_m_s;